FairportRobotics
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Castor2026
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Fixed some issues

This commit is contained in:
Tyler Wilcox 2026-03-29 15:00:17 -04:00
parent d67261cd85
commit 47073cfd35
4 changed files with 5 additions and 6 deletions
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1
src/main/java/frc/robot/RobotContainer.java
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@ -57,7 +57,6 @@ public class RobotContainer {
*/ */
private void configureBindings() { private void configureBindings() {
turretSubsystem.startHoming();
m_driverController.povDown().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_STORED_ANGLE)); m_driverController.povDown().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_STORED_ANGLE));
m_driverController.povLeft().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE1)); m_driverController.povLeft().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE1));
m_driverController.povRight().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE3)); m_driverController.povRight().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE3));

4
src/main/java/frc/robot/commands/AutoShootCommandChassisTurret.java
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@ -91,7 +91,7 @@ public class AutoShootCommandChassisTurret extends Command{
Translation2d delta = botPose.getTranslation().toTranslation2d().minus(closestTag.getTranslation().toTranslation2d()); Translation2d delta = botPose.getTranslation().toTranslation2d().minus(closestTag.getTranslation().toTranslation2d());
Logger.recordOutput("AutoAlign-ClosestAprilTagTransform", delta); Logger.recordOutput("AutoAlign-ClosestAprilTagTransform", delta);
deadreckoningAutoCenterController.setSetpoint(delta.getAngle().getRadians()); deadreckoningAutoCenterController.setSetpoint(delta.getAngle().plus(Rotation2d.k180deg).getRadians());
} }
@Override @Override
@ -105,7 +105,7 @@ public class AutoShootCommandChassisTurret extends Command{
Logger.recordOutput("AutoAlignState", "Look for tag"); Logger.recordOutput("AutoAlignState", "Look for tag");
Pose3d botPose = driveSubsystem.getBotPose(); Pose3d botPose = driveSubsystem.getBotPose();
driveSubsystem.rotateChassis(deadreckoningAutoCenterController.calculate(botPose.getRotation().toRotation2d().getRadians())); // May need to flip this //driveSubsystem.rotateChassis(deadreckoningAutoCenterController.calculate(botPose.getRotation().toRotation2d().getRadians())); // May need to flip this
} }
else // We have an april tag, center it to the camera frame else // We have an april tag, center it to the camera frame
{ {

2
src/main/java/frc/robot/subsystems/DriveSubsystem.java
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@ -135,7 +135,7 @@ public class DriveSubsystem extends TestableSubsystem {
// Set vision measurement confidence values // Set vision measurement confidence values
driveSystem.getPoseEstimator().setVisionMeasurementStdDevs(VecBuilder.fill(0.7, 0.7, 0.7, 9999999)); driveSystem.getPoseEstimator().setVisionMeasurementStdDevs(VecBuilder.fill(0.7, 0.7, 0.7, 0.7));
this.setDefaultCommand(Commands.run(new Runnable() { this.setDefaultCommand(Commands.run(new Runnable() {

4
src/main/java/frc/robot/subsystems/HopperSubsystem.java
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@ -26,13 +26,13 @@ public class HopperSubsystem extends TestableSubsystem {
kickerMotor.getConfigurator().apply(new MotorOutputConfigs().withInverted(Constants.HopperConstants.KICKER_MOTOR_DIRECTION)); kickerMotor.getConfigurator().apply(new MotorOutputConfigs().withInverted(Constants.HopperConstants.KICKER_MOTOR_DIRECTION));
} }
public void feedKicker() {kickerMotor.set(0.5);} public void feedKicker() {kickerMotor.set(0.75);}
public void reverseKicker() {kickerMotor.set(-0.5);} public void reverseKicker() {kickerMotor.set(-0.5);}
public void stopKicker() {kickerMotor.stopMotor();} public void stopKicker() {kickerMotor.stopMotor();}
public void spindexerOn() { spindexerMotor.set(0.5);} public void spindexerOn() { spindexerMotor.set(0.75);}
public void spindexerOff() { spindexerMotor.stopMotor();} public void spindexerOff() { spindexerMotor.stopMotor();}